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本文研究用双模控制实现数字位置随动系统的快速控制。在控制开始阶段偏差大时,采用bang-bang控制,实现快速粗定位;当控制临近结束偏差较小时,采用无波纹最小拍控制,实现限时精定位,从而达到快速、精确定位的目的。本文的控制对象是具有时滞环节的双积分系统。文中给出了:(1)最小拍线性控制区的划定方法;(2)由bang-bang控制切换为无波纹最小拍控制的条件、切换公式;(3)实现最小拍控制的脉冲传递函数D(Z);(4)具有时滞的双积分系统bang-bang控制的开关线方程。所有的理论分析,都通过实例用数字机进行仿真验算。文中给出了数字仿真程序框图和仿真曲线,结果与理论分析相符。
In this paper, dual-mode control of digital position servo system to achieve fast control. Bang-bang control is adopted in the initial stage of control to achieve rapid coarse positioning. When the control deviation near the end is small, the ripple-free minimum beat control is adopted to realize the precise positioning at a limited time so as to achieve the purpose of rapid and precise positioning. The control object of this paper is a double integral system with time delay. The paper gives: (1) the minimum linear control zone delineation method; (2) bang-bang control switch to no ripple minimum beat control conditions, switching formula; (3) to achieve the minimum beat control pulse transfer function D (Z); (4) bang-bang control switch-line equation with time-delay double integral system. All the theoretical analysis, through examples using digital machine simulation calculations. The digital simulation program block diagram and simulation curve are given in the paper. The results are consistent with the theoretical analysis.